// Copyright 2018 ETH Zürich, Thomas Schöps
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its contributors
//    may be used to endorse or promote products derived from this software
//    without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.


#pragma once

#include <sophus/rxso3.hpp>
#include <sophus/se2.hpp>
#include <sophus/se3.hpp>
#include <sophus/sim3.hpp>
#include <sophus/so2.hpp>
#include <sophus/so3.hpp>

#include "libvis/libvis.h"

namespace vis {

// Using the full namespace was discarded as it conflicted with importing the
// Eigen namespace: Matrix was defined in both.
using Sophus::RxSO3f;
using Sophus::RxSO3d;

using Sophus::SE2f;
using Sophus::SE2d;

using Sophus::SE3f;
using Sophus::SE3d;

using Sophus::Sim3f;
using Sophus::Sim3d;

using Sophus::SO2f;
using Sophus::SO2d;

using Sophus::SO3f;
using Sophus::SO3d;

}

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::RxSO3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::RxSO3d)

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SE2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SE2d)

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SE3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SE3d)

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::Sim3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::Sim3d)

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SO2f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SO2d)

EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SO3f)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Sophus::SO3d)
